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EP2012208A2 - Outil manuel de programmation - Google Patents

Outil manuel de programmation Download PDF

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Publication number
EP2012208A2
EP2012208A2 EP08158890A EP08158890A EP2012208A2 EP 2012208 A2 EP2012208 A2 EP 2012208A2 EP 08158890 A EP08158890 A EP 08158890A EP 08158890 A EP08158890 A EP 08158890A EP 2012208 A2 EP2012208 A2 EP 2012208A2
Authority
EP
European Patent Office
Prior art keywords
axis
camera
handle
industrial robot
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08158890A
Other languages
German (de)
English (en)
Other versions
EP2012208B1 (fr
EP2012208A3 (fr
Inventor
Gerhard Hietmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Laboratories GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP2012208A2 publication Critical patent/EP2012208A2/fr
Publication of EP2012208A3 publication Critical patent/EP2012208A3/fr
Application granted granted Critical
Publication of EP2012208B1 publication Critical patent/EP2012208B1/fr
Ceased legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36167—Use camera of handheld device, pda, pendant, head mounted display
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39436—Joystick mimics manipulator to provide spatial correspondance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39442—Set manual a coordinate system by jog feed operation

Definitions

  • the invention relates to a handheld programmer for programming an industrial robot.
  • Industrial robots are handling machines that are equipped for the automatic handling of objects with appropriate tools and programmable in several axes of motion, in particular with regard to orientation, position and workflow.
  • Methods for programming the industrial robot are the planned procedure for generating user programs.
  • Direct methods are also referred to as on-line methods
  • indirect methods are also referred to as off-line methods
  • Hybrid methods are a combination of direct and indirect methods.
  • Direct methods include so-called teach-in programming and the play-back method.
  • teaching the industrial robot is moved to the desired position by means of a suitable device and the position is stored in a controller of the industrial robot. This step is repeated until the entire desired movement of the industrial robot is described by approached spatial points. This creates a sequence of spatial points that the industrial robot moves away one after the other.
  • Suitable devices for teach-in programming are, for example, programming handsets with traversing keys, with a so-called Spacemouse, with a joystick or with a combination of buttons and wheel-shaped knob.
  • the JP 61-151711 A discloses a hand-held programmer with a tilt sensor, by which a rolling and tilting of the hand-held programmer is converted into a movement of each axis of the industrial robot.
  • the object of the present invention is to provide a hand-held programmer for programming an industrial robot, which is on the one hand relatively simple and on the other hand allows a relatively easy handling for an operator.
  • a handheld programmer for programming an industrial robot comprising a handle and a camera with an imaging optics, wherein the camera is at least indirectly hinged to the handle, that the imaging optics of the camera regardless of the position of the Align the handle in the space in the direction of gravity automatically, and is at least indirectly hinged to the handle such that upon rotation of the handle about a first axis extending in the direction of gravity, the optics of the camera according to the rotation of the handle about the first axis rotates.
  • the handheld programmer according to the invention is intended for programming an industrial robot, in particular as part of a teach-in programming of the industrial robot.
  • teaching the industrial robot or a predetermined point of the industrial robot by means of a hand-held programmer at least partially in the desired position and / or orientation driven in the room and stored in a control of the industrial robot.
  • the programming device comprises the handle which an operator can grasp with one hand and thus guide the programming pendant.
  • the handheld programmer comprises the camera whose imaging optics automatically aligns independently of the position of the handle in space in the direction of gravity.
  • the camera can be arranged so relative to the handle that their optics is always aligned in the direction of the floor or in the direction of a ceiling, so can take pictures of the floor or from the ceiling.
  • the camera may be a digital camera such as a webcam.
  • the camera of the handheld programmer according to the invention is at least indirectly hinged to the handle such that upon rotation of the handle about a first axis extending in the direction of gravity, the optics of the camera rotate about the first axis in accordance with rotation of the handle.
  • the first axis runs in the direction of gravity, in the direction according to the invention, the optics of the camera automatically aligns regardless of the position of the handle in space.
  • the camera or its optics Upon rotation of the handle about the first axis, the camera or its optics also rotates about the first axis.
  • the handheld programmer according to the invention can then be designed in particular such that it calculates a first angle, which is associated with a rotation of the handle about the first axis, based on images taken with the camera of a plane perpendicular to the first axis.
  • the term "pictures" is intended in this context also include digital images or the image associated image data sets.
  • the handheld programmer according to the invention is provided in particular for the teach-in programming of the industrial robot, which may in particular have a predetermined point whose orientation is at least partially adjustable in space by a movement of the handle of the handheld programmer during the programming of the industrial robot.
  • the orientation of this predetermined point which may be, for example, the so-called Tool Center Point (TCP) or the flange of the industrial robot, generally has three degrees of freedom in space.
  • TCP Tool Center Point
  • a partial orientation of this point may be described by means of a rotation of that point with respect to the axis of gravity, which is commonly referred to as the z-axis.
  • the z-axis corresponds to the first axis of the programmer handset so that it can cooperate with the industrial robot such that the predetermined point of the industrial robot rotates about the z-axis with the rotation of the handle of the programmer's handset in accordance with the rotation of the handle.
  • the handheld programmer according to the invention can be designed such that the predetermined point rotates about the z-axis by the same first angle with which the handle of the programming pendant is rotated about the first axis.
  • the first angle can be calculated, for example, directly with the handheld programmer, for example by means of a computing device of the handheld programmer.
  • a control computer of the industrial robot calculates the first angle on the basis of the images generated by the camera and controls the industrial robot accordingly that its predetermined point rotates about the axis in the direction of gravity corresponding to the first angle.
  • a plane aligned at right angles to the first axis may be provided with markers with the aid of which the device calculates the first angle. If the optics of the camera are oriented in the direction of the ground, then these markers can be applied to this ground in a relatively simple manner.
  • the markers may be e.g. be mounted on horizontal planes within a working range of the industrial robot, the markers (markers) e.g. in a predetermined axis of a coordinate system, which is assigned to the base of the industrial robot.
  • the markers e.g. be mounted on horizontal planes within a working range of the industrial robot, the markers (markers) e.g. in a predetermined axis of a coordinate system, which is assigned to the base of the industrial robot.
  • the markers or markers may be, for example, trend-setting adhesive strips which are attached to the floor, to a workpiece carrier or to a workpiece.
  • the markers may also be part of a directional carpet or directional rubber mats, in particular in different sizes.
  • Suitable markers may also be directional aluminum flakes, e.g. be with anodized Märker, which are attached to horizontal planes.
  • a portable marker device which has a plate which can be oriented at right angles to gravity and provided with markers.
  • the portable marker device can have a parallelogram mechanism, in particular to move the plate relatively quickly into the desired position To bring position where the handheld programmer invention is to be used.
  • the markers in particular of the portable marker device, may e.g. be aligned in the direction of a predetermined axis of the base of the industrial robot associated coordinate system.
  • This axis can e.g. by means of a laser beam of a line laser, which is attached to the fixed foot of the industrial robot, the operator are displayed.
  • the markers can then be aligned parallel to the laser beam.
  • the flange of the industrial robot is moved such that essentially the working area of the industrial robot is covered for a later teach-in programming.
  • the work area can be moved in particular meandering.
  • partial images are taken from the top view of the workspace.
  • the industrial robot can stop for single shots with the camera.
  • the partial images are then combined to form an overall image (overall top view of the working area) and stored, for example, in the control computer of the industrial robot.
  • the location of the overall image with respect to the robot coordinate system is known due to the defined orientation of the camera in the partial image recording.
  • CAD CAD
  • the CAD model is e.g. stored in the control computer of the industrial robot and may include all components of the processing cell.
  • the images created with the camera of the programming handheld device according to the invention are compared, for example by means of image processing methods, with the stored CAD model. Because of this comparison, the first angle can then also be determined.
  • this has at least one second axis and a third axis independent of the second axis, with respect to which the camera is connected at least indirectly to the handle in an articulated manner.
  • the second axis may be oriented at right angles to the first and third axes according to an embodiment of the handheld programmer according to the invention.
  • the orientation of the predetermined point of the industrial robot comprises three degrees of freedom.
  • the method Roll, Pitch, Yaw (roles, pitching, yawing) from the aviation and shipping can be applied.
  • the so-called Euler convention is used, the rotations are performed one after the other around the axes of the new coordinate systems, indicating the order of the rotations. Is e.g.
  • the Z-axis of the Yaw angle described in Cartesian coordinates the Y-axis of the pitch angle and the X-axis of the roll angle and the order Z-axis, Y-axis and X-axis is used, then takes place first for determining the orientation of the predetermined point of the industrial robot, a rotation about the Z-axis by a Yaw angle, then a rotation about a pitch angle about the Y-axis of the rotation caused by the rotation about the Z-axis new coordinate system and then a rotation about a roll angle about the X-axis of the again resulting from the rotation about the Y-axis new coordinate system.
  • the rotation about the Z-axis is also called “yawing”, the rotation about the Y-axis is also called “nodding” and the rotation about the X-axis is also called “rolling”.
  • the first angle corresponds to the Yaw angle.
  • the second and third axes By properly aligning the second and third axes, one of these axes can be assigned to the roll and the other axis to the pitch angle.
  • these axes can be performed muted.
  • the Yaw angle associated with the first angle can be determined by means of the images taken by the camera.
  • the handheld programmer of the present invention may include a first angle measuring device for measuring a second angle of the second axis taken by the camera relative to the handle upon rotation of the camera relative to the second axis, and / or a second angle measuring device for measuring a third angle of the third axis Camera relative to the handle with a rotation of the camera relative to the third axis occupies have.
  • Suitable angle measuring devices are e.g. built in the second and third axes potentiometer or angle sensors or acceleration sensors. Due to the signals generated by the two angle measuring devices, e.g. the roll and pitch angles of the predetermined point of the industrial robot mittesl the programming hand-held device according to the invention can be adjusted.
  • the handheld programmer according to the invention can be designed such that the axis of the programming handset assigned to the roll angle is mechanically blocked when it reaches a minimum angle of, for example, 85 °.
  • the handheld programmer according to the invention may comprise a wireless transmitter for transmitting signals generated by the programming pendant. It is then possible for these signals, which have, for example, information about the first, second or third angle, to be transmitted wirelessly to the control computer of the industrial robot so that it adjusts the orientation of the predetermined point accordingly.
  • the signals may also include the images taken by the camera or the signals originating from the angle measuring devices, in order that the control computer may e.g. can calculate the first angle.
  • the signals are e.g. Video signals and can be exchanged via a wireless channel with the control computer.
  • the signals can be bundled in the handheld programmer according to the invention.
  • a wireless webcam available on the market has its own communication channel for robot control, while the other input / output information receive another wireless channel.
  • a partial orientation e.g. a rotation of the predetermined point of the industrial robot about the axis along the gravity axis, or the entire orientation of this point can be adjusted.
  • this can according to a variant also have input means for moving the predetermined point of the industrial robot.
  • the input means may in particular be one-dimensional input means which allow a direction of travel of the predetermined point in one dimension, or two-dimensional input means be that allow a travel direction of the given point in two dimensions.
  • Suitable two-dimensional input means are, for example, joystick, touchpad, trackball, four traversing keys or two thumbwheels.
  • the input means may also be multi-dimensional input means, such as joystick or 6D mouse.
  • the operator can move the given point of the industrial robot freely within a plane or at least in two defined directions. This makes it possible to facilitate the operation, since not every position in the room for the human wrist is pleasant.
  • the traversing direction it is also possible to specify the speed via the deflection of suitable traversing elements.
  • the hand-held programmer according to the invention can, in addition to the trajectory input option, have further input and / or output options, such as e.g. an override setting, a travel mode or a so-called touchup.
  • further input and / or output options such as e.g. an override setting, a travel mode or a so-called touchup.
  • the combination of industrial robot and handheld programming device according to the invention can also be designed such that, based on the recorded images, the position of the programming pendant is calculated relative to the plane from which the images were taken and the position of the predetermined point of the industrial robot is set based on the calculated position becomes. Then also with the handheld programmer according to the invention not only the orientation (or a partial orientation) of the predetermined point of the industrial robot can be adjusted, but also its position (or a partial position).
  • the handheld programmer according to the invention can therefore also be used in addition to the adjustment of the orientation additionally to determine his own position in the room (6D tracking system). This can be geteached with the handheld programmer invention, a room point.
  • the handheld programmer according to the invention can also be used with the aid of another mounted camera for augmented reality applications.
  • the position of the handheld programmer according to the invention can be determined, for example, in that the markers are not only direction-determining, but also position-determining. These markers are used e.g. at horizontal levels of the work area, e.g. placed on the ground. The operator specifies, from where she wants to operate the industrial robot by means of the handheld programmer according to the invention. At these horizontal levels of the work area, e.g. Floor or workpiece holder, directional and unique for the positioning markers are attached. When using a wide-angle camera for the handheld programmer according to the invention, the number of markers can be selected relatively small and the distance between the markers correspondingly large.
  • the orientation of the markers may be e.g. by a purely translational movement of the industrial robot in a defined direction, e.g. X direction (horizontal) of the robot base point coordinate system.
  • the laser spot of the laser distance sensor also moves on the marker plane in this X direction.
  • the marker will now be oriented accordingly.
  • the industrial robot can also be oriented so that the mounted laser distance sensor is aligned in the gravitational direction (direction of gravity).
  • the industrial robot can now also translate as hand method without changing the orientation until a desired position in the work area is marked by the laser distance sensor.
  • the orientation of the marker can be displayed via a line laser.
  • the position of the line laser with respect to the industrial robot must be known.
  • the gravity-oriented line laser draws a line at the desired location. With the help of the dot and line marking of the two lasers, the marker can be precisely aligned.
  • the method described above is also applicable so that the markers are arbitrarily placed in the work area and then their position is determined by means of the laser and by means of hand method of the industrial robot.
  • the laser distance sensor measures the Z-distance (distance with respect to the axis in the direction of gravity) of the marker from the laser distance sensor origin.
  • the further coordinates (X, Y, for the position and A, B, C for the orientation) can be determined from position sensors of the control computer of the industrial robot in conjunction with the known laser distance sensor origin.
  • markers are attached.
  • the orientation of the individual markers does not matter, as they are detected by the camera.
  • the camera is now positioned by translating the robot's hand without changing the orientation so that a marker is located in the field of view of the camera. Due to the vertical viewing direction of the camera on the relevant marker, the position and orientation determination is relatively simple and relative exactly, because if, then only relatively small perspective distortions of the camera must be calculated.
  • the measured position (and also the orientation when using the further camera) with respect to the robot coordinate system is stored for each uniquely identifiable marker. This survey procedure is repeated for the remaining markers.
  • the measured markers can be used to determine the position and orientation of the handheld programmer according to the invention.
  • the gravitationally oriented camera of the handheld programming device must have a marker in the field of view for this purpose.
  • the marker type is identified and the corresponding stored marker position and orientation is loaded.
  • the frame "marker programming hand-held device” is then also calculated using standard image processing methods. From the stored marker frame (position and orientation) and the calculated frame "marker programming pendant" the position of the programming pendant can be determined with respect to the robot coordinate system.
  • the handheld programmer according to the invention can generally be used to program the industrial robot.
  • the handheld programmer according to the invention can be used in particular for programming the industrial robot according to the following method, according to which the handheld programmer according to the invention in the room according to a desired orientation, which is to assume a coordinate system to be oriented oriented, the current orientation of the programming handset as a desired orientation of the coordinate system Pressing one Locking means, in particular the programming handset, is locked so that the orientation of the coordinate system remains unchanged in a further movement of the handheld programmer according to the invention, and the predetermined points in at least one defined in the desired coordinate system direction or orientation by operating the input means of the handheld programmer is moved.
  • the locking means may e.g. be a button or a push button and / or may be part of the handheld programmer according to the invention.
  • the locking means may e.g. be a button or a push button and / or may be part of the handheld programmer according to the invention.
  • the programming pendant e.g. the programming handset in a relatively comfortable for the operator or at least in a compared to the position in which the programming pendant is aligned at the time of locking, comfortable position are brought without the orientation of the coordinate system changes.
  • the orientation in the space of the programming device can be described by means of coordinates of the hand-held programming device associated handheld coordinate system, which is aligned with a robot coordinate system of the industrial robot.
  • the hand-held coordinate system and the robot coordinate system may in particular be Cartesian coordinate systems.
  • the handset coordinate system may be matched with the robotic coordinate system of the industrial robot such that at least one of the coordinate axes of the handset coordinate system coincides with one of the coordinate axes of the tool coordinate system.
  • all coordinate axes of the handheld device coordinate system can also correspond to corresponding coordinate axes of the tool coordinate system.
  • the matching coordinate axes of the handset coordinate system and the tool coordinate system may coincide with the longitudinal axis of the teach pendant and / or may point in tool thrust direction of the tool. Then match the tool thrust direction and the orientation of the programming device hand along its longitudinal axis in setting the desired orientation with the longitudinal axis of the programmer handset.
  • the predetermined point can be moved along exactly one predetermined or predetermined by the programmer hand axis after locking the desired orientation of the coordinate system by operating the input means.
  • the desired orientation of the coordinate system can be adjusted in a relatively simple manner and then the position of the predetermined point along the axis (traverse axis) are moved by operating the input means of the handheld programmer.
  • the handheld programmer can be moved arbitrarily or placed in any position without the orientation of the coordinate system changes.
  • the traversing axis can be adjusted, for example, by the orientation of the longitudinal axis of the programming pendant, in particular for time of locking the desired orientation of the coordinate system are defined or show in horrendraum of the tool attached to the industrial robot, in particular at the time of locking the desired orientation of the coordinate system.
  • the predetermined point is thus moved in the direction of the tool impact point.
  • the travel axis may also be defined by the orientation of a coordinate axis of the handset coordinate system or the tool coordinate system, for example, at the time of locking the desired orientation of the coordinate system.
  • the travel axis can also be defined otherwise, eg by aligning the handheld programmer, for example, after locking or before adjusting the orientation of the coordinate system.
  • the predetermined point can also be moved along exactly one traversing plane by actuating the input means, wherein the traversing plane is defined by two predefined or, in particular, by the programming handset predeterminable axis after locking the desired orientation of the coordinate system.
  • the desired orientation of the coordinate system can first be set in a relatively simple manner, and then the position of the predetermined point within the movement plane can be set by actuating the input means.
  • the traverse plane is defined, for example, by the alignment of the longitudinal axis of the programming pendant, by the tool thrust direction of the tool mounted on the industrial robot, by the orientation of two coordinate axes of the handheld coordinate system or by the orientation of two coordinate axes of the tool coordinate system, in particular at the time of locking the desired orientation of the coordinate system.
  • the trajectory is according to this embodiment, for example, at the time of locking or at another time, in particular after locking defined, for example by aligning the programmer handset.
  • a rotation axis by orienting the programming pendant in the room after locking the desired orientation of the coordinate system. Then, the predetermined point can be rotated about the rotation axis by operating the input means of the programmer handset.
  • the rotation axis can in particular run through the predetermined point.
  • the handheld programmer can be moved or aligned as desired, because after locking the orientation of the coordinate system is no longer changed by the position of the programming pendant.
  • the rotation axis may be, for example, the longitudinal axis or one of the coordinate axes of the handset coordinate system.
  • the rotation axis can also be defined differently.
  • the speed of reorientation can also be adjusted by the person operating the programming pendant. Besides the reorientation direction, this person can also vary the speed by way of the degree of deflection of special input elements. Apart from a continuous reorientation movement, a gradual movement can also be commanded.
  • the tool bump axis can then be per actuation operation, e.g. by pressing a key to move in the defined direction by a predetermined selectable angle value.
  • the orientation of the predetermined point can be traced during a movement of the handheld programmer according to the orientation of the handheld programmer in the room before reaching and locking the desired orientation of the coordinate system. But it is also possible that initially the programming handset is oriented in space according to the desired orientation of the coordinate system in space without tracking the orientation of the given point.
  • a further input means in particular of the hand-held programmer, is actuated when the hand-held programmer is aligned according to the desired orientation.
  • the robot axes are then moved so that the predetermined point is oriented according to the orientation of the teach pendant at the time of actuation of the further input means and the desired orientation of the predetermined point is locked by operating the locking means, so that the orientation of the predetermined point in a movement of the teach pendant remains unchanged.
  • the Fig. 1 shows an industrial robot 1 with a kinematics for movements in six degrees of freedom, for example.
  • the industrial robot 1 has in a generally known manner joints 2 to 4, levers 5, 6, six axes of movement A1 to A6 and a flange 7.
  • Each of the axes of movement A1 to A6 is moved by a drive, not shown.
  • the drives include, for example, each an electric motor and transmission, as is well known in the art.
  • the industrial robot 1 further has a control computer 8, which is connected to the drives of the industrial robot 1 in a manner not shown and controls them in a generally known manner by means of a running on the control computer 8 computer program, so that the flange 7 of the industrial robot 1 performs a predetermined movement ,
  • a control computer 8 which is connected to the drives of the industrial robot 1 in a manner not shown and controls them in a generally known manner by means of a running on the control computer 8 computer program, so that the flange 7 of the industrial robot 1 performs a predetermined movement .
  • the programming device PHG has a first device part designed as a handle 21, a second device part configured as an angle element 22, a third device part 23 and a camera 24.
  • the camera 24 is for example a digital camera e.g. in the form of a Web-CAM and the third device part 23 represents in the case of the present embodiment, a housing for the camera 24, in which the camera 24 is arranged and aligned so that its imaging optics 25 can take pictures along an axis B1.
  • the third device part 23 is pivotally mounted by means of a hinge 26 with respect to a tilt axis B2 on the angle element 22. Furthermore, the third device part 23 is designed such that the inclination axis B2 and the axis B1 are always aligned at right angles to each other.
  • the angle element 22 is rotatably mounted on the handle 21 by means of a pivot bearing, not shown, with respect to a rotational axis B3.
  • the third device part Due to the rotational and inclination axes B2, B3 and the force acting on the camera 24 and its housing in the form of the third device part 23 gravity, the third device part is directed 23 always automatically with the camera 24 via the inclination axis B2 and the rotation axis B3 in such a way that the axis B1 runs in the direction of gravity.
  • the optic 25 of the camera 24 is also always aligned in the direction of gravity, so that always the camera 24 in the case of the present embodiment can take particular pictures of the ground.
  • the handheld programmer PHG can also be designed such that the optics 25 of the camera 24 is always aligned upward in the direction of gravity.
  • the joint 26 and the pivot bearing are damped to avoid overshooting of the rotational and inclination axes B2, B3 in a movement of the programmer handset PHG or at least reduce.
  • FIGS. 2 to 4 show the programmer handset PHG for different positions of the handle 21 in space. Like that FIGS. 2 to 4 can be seen, the axis B1 is always aligned in the direction of gravity due to the joint 26, the pivot bearing and gravity.
  • the hand-held programmer PHG can be designed mechanically such that the joint 26 is provided with a mechanical blocking, so that the axis of rotation B3 only has a maximum angle with respect to a horizontal extending level has. This maximum angle is eg 85 °.
  • the handheld programmer PHG is particularly intended to adjust the orientation of the flange 7 of the industrial robot 1.
  • the handheld programmer PHG is set up to communicate wirelessly with the control computer 8 via a transmitter 27 arranged in the handle 21 and a receiver 9 of the control computer 8.
  • the transmitter 27 is in the FIG. 6 shown, the handheld programmer PHG in partially sectioned view.
  • the orientation of the flange 7 has three degrees of freedom, it is used to describe the orientation in space, the method Roll, pitch, Yaw (roles, pitching, yawing) from the aviation and shipping and it is the so-called Euler Convention used.
  • the basic coordinate system of the industrial robot in the case of the present embodiment has the Cartesian coordinates X, Y, Z, with the Z-axis oriented in the direction of gravity.
  • the basic coordinate system is in the FIG. 5 shown.
  • the rotation about the Z axis is also referred to as "yawing", the rotation about the Y 'axis is also referred to as “pitching" and the rotation about the X “axis is also referred to as” rolling ".
  • the Yaw angle 51 results due to a rotation of the programmer handset PHG about its axis B1, for example in the direction of one in the FIG. 2 shown arrow 51a.
  • the Yaw angle 51 determined for the flange 7 results in the case of the present exemplary embodiment on the basis of images recorded with the camera 24.
  • FIGS. 1 and 2 shown marker 10 on the floor on which the industrial robot 1 is mounted.
  • the markers 10 are arrow-shaped and point in the X-axis direction of the base coordinate system of the industrial robot 1. Further, a marker 10a is mounted on a bottom-parallel surface of a workpiece 11 which is also aligned in the X-axis direction is.
  • the camera takes 24 pictures from the floor.
  • One of the pictures 70 is in the FIG. 7 shown by way of example. Since the camera 24 is oriented in the direction of gravity, the images 70 include images 10b of FIG on the floor or on the workpiece 11 arranged markers 10, 10a. Since the markers 10, 10a are aligned in the direction of the X-axis of the basic coordinate system of the industrial robot 1, the images 10b of the markers 10, 10a in the image 70 run in the direction of arrows 71.
  • the handheld programmer PHG transmits the image data sets assigned to the images 70 to the control device 8 via the transmitter 27, which then calculates the yaw angle 51 by means of image processing of the image data sets and correspondingly changes the orientation of the flange 7 by the motors of the industrial robot 1 are driven accordingly.
  • the programming pendant PHG has a computing device 28, e.g. a microprocessor, which calculates the yaw angle 51 on the basis of the images 70 and transmits to the control computer 8 the calculated yaw angle.
  • the camera 24 is connected to the computing device 28 or the transmitter 27 by means of an electrical line 29 running within the angle element 22. It is also possible that the camera 24 as such has a transmitter with which the image data sets can be transmitted to the control device 8.
  • the handheld programmer PHG comprises two angle measuring devices, each having a potentiometer 30, 31.
  • the potentiometer 30 interacts with the joint 26 and the potentiometer 31 interacts with the pivot bearing.
  • the potentiometers 30, 31 have corresponding electrical resistances, which are processed either with the computing device 28 or by means of the control computer 8. Due to the electrical resistances, the rotation of the camera 24 relative to the inclination and rotation axes B2, B3 with respect to arrows 52a, 53a can thus be calculated.
  • the potentiometers 30, 31 associated electrical resistances are a measure of the set roll and pitch angles 52, 53 of the flange 7.
  • a of Pitch angle 52 are set with a rotation of the programming pendant PHG with respect to the rotation axis B3 in the direction of arrow 53a of the roll angle 53 for the orientation of the flange 7.
  • FIGS. 8 and 9 each show a portable marker device 80, 90 with a plate 81, 91, a parallelogram mechanism 82, 92 and a stand 83, 93.
  • the parallelogram mechanisms 82, 92 it is possible to align the plates 81, 91 horizontally .
  • the upwardly facing surfaces of the plates 81, 91 are each provided with markers 84, 94.
  • the markers 84 of the plate 81 are linear and the markers 94 of the plate 91 are similar to the markers 10.
  • the marker devices 80, 90 may be used in conjunction with the teach pendant PHG to adjust the orientation of the flange 7.
  • the operator can hold the programming device PHG via the plate 81, 91, so that the camera 24 takes pictures of the markers 81, 91. Due to image processing of these images assigned image data sets based on the images of the markers 81, 91 in the images, the yaw angle 51 for the flange 7 can then be calculated.
  • an unillustrated laser may be provided, the laser beam pointing in the X-axis direction of the base coordinate system.
  • the yaw angle 51 for the flange 7 can also be adjusted without the use of the markers 10 with the programming pendant PHG. For example, it is possible to provide an image of the floor or of a part of the floor, with which the images taken with the camera 24 are then compared. On the basis of the comparison, the orientation of the camera 24 relative to this part of the floor can then be determined, from which the Yaw angle 51 to be set can be determined.
  • the flange 7 of the industrial robot 1 is moved such that substantially the working area of the industrial robot 1 is taken with the camera 24.
  • the work area is traversed, for example, in particular meandering.
  • the camera takes 24 fields from the top of the work area, ie from the ground.
  • the partial images are then combined to form an overall image of the floor and stored, for example, in the control computer 8 of the industrial robot 1.
  • the location of the overall image with respect to the base coordinate system is known due to the defined orientation of the camera 24 in the partial image recording.
  • the position of the flange 7 in the room can also be set at least partially with the hand-held programmer PHG.
  • the programming handset comprises input means, in the case of the present embodiment, four input keys T, with which the flange 7 can be moved in a plane by pressing the input keys T.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
EP20080158890 2007-06-26 2008-06-24 Outil manuel de programmation Ceased EP2012208B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200710029335 DE102007029335B4 (de) 2007-06-26 2007-06-26 Programmierhandgerät

Publications (3)

Publication Number Publication Date
EP2012208A2 true EP2012208A2 (fr) 2009-01-07
EP2012208A3 EP2012208A3 (fr) 2010-01-06
EP2012208B1 EP2012208B1 (fr) 2011-09-28

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Family Applications (1)

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EP20080158890 Ceased EP2012208B1 (fr) 2007-06-26 2008-06-24 Outil manuel de programmation

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EP (1) EP2012208B1 (fr)
DE (1) DE102007029335B4 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
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WO2012033900A1 (fr) * 2010-09-10 2012-03-15 Gleason Metrology Systems Corporation Pendant pour opérateur éloigné destiné à une machine de métrologie
WO2013033747A1 (fr) * 2011-09-06 2013-03-14 Keba Ag Procédé, système de commande et moyen de prédéfinition de mouvements pour programmer ou spécifier des mouvements ou des séquences d'un robot industriel
EP2703920A1 (fr) * 2012-08-27 2014-03-05 Siemens Aktiengesellschaft Procédé d'apprentissage de la commande d'une machine
WO2017072281A1 (fr) * 2015-10-30 2017-05-04 Keba Ag Procédé, système de commande et moyen de spécification de mouvement pour la commande des mouvements de bras articulés d'un robot industriel
WO2017102638A1 (fr) * 2015-12-18 2017-06-22 Kuka Roboter Gmbh Appareil de commande destiné à la commande ou programmation d'un manipulateur

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DE102010019640A1 (de) * 2010-05-06 2011-11-10 Kuka Roboter Gmbh Handgerät und Verfahren zum Steuern und/oder Programmieren eines Manipulators
DE102012002657A1 (de) * 2012-02-10 2013-08-14 Weber Maschinenbau Gmbh Breidenbach Vorrichtung mit erweiterter Realität
US9724795B2 (en) 2013-11-07 2017-08-08 Apex Brands, Inc. Tooling system with visual identification of attached component
JP6470248B2 (ja) 2016-12-16 2019-02-13 ファナック株式会社 教示操作盤およびそれを有するロボットシステム
DE102019134794B4 (de) * 2019-12-17 2021-06-24 Wandelbots GmbH Handgerät zum Trainieren mindestens einer Bewegung und mindestens einer Tätigkeit einer Maschine, System und Verfahren.

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WO1996009918A1 (fr) 1994-09-28 1996-04-04 Faeger Jan G Dispositif de commande pourvu d'un element de commande mobile

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US5617515A (en) * 1994-07-11 1997-04-01 Dynetics, Inc. Method and apparatus for controlling and programming a robot or other moveable object
DE19913756A1 (de) * 1999-03-26 2000-09-28 Audi Ag Vorrichtung zum Teachen eines programmgesteuerten Roboters
DE102004035397A1 (de) * 2004-07-21 2006-03-16 Erwin Rothballer Verfahren und Anordnung zum Programmieren der Bahn eines Robotergerätes
EP1795315A1 (fr) * 2006-05-31 2007-06-13 Abb Research Ltd. Appareil de contrôle manuel pour un robot industriel

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JPS61151711A (ja) 1984-12-26 1986-07-10 Hitachi Ltd ロボツトの教示装置
WO1996009918A1 (fr) 1994-09-28 1996-04-04 Faeger Jan G Dispositif de commande pourvu d'un element de commande mobile

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012033900A1 (fr) * 2010-09-10 2012-03-15 Gleason Metrology Systems Corporation Pendant pour opérateur éloigné destiné à une machine de métrologie
CN103097972A (zh) * 2010-09-10 2013-05-08 格里森计量系统股份有限公司 用于计量机工具的远程操作盒
US9329595B2 (en) 2010-09-10 2016-05-03 Gleason Metrology Systems Corporation Remote pendant with extended user interface
CN103097972B (zh) * 2010-09-10 2018-04-20 格里森计量系统股份有限公司 用于计量机工具的远程操作盒
WO2013033747A1 (fr) * 2011-09-06 2013-03-14 Keba Ag Procédé, système de commande et moyen de prédéfinition de mouvements pour programmer ou spécifier des mouvements ou des séquences d'un robot industriel
EP2703920A1 (fr) * 2012-08-27 2014-03-05 Siemens Aktiengesellschaft Procédé d'apprentissage de la commande d'une machine
WO2017072281A1 (fr) * 2015-10-30 2017-05-04 Keba Ag Procédé, système de commande et moyen de spécification de mouvement pour la commande des mouvements de bras articulés d'un robot industriel
US10814484B2 (en) 2015-10-30 2020-10-27 Keba Ag Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot
WO2017102638A1 (fr) * 2015-12-18 2017-06-22 Kuka Roboter Gmbh Appareil de commande destiné à la commande ou programmation d'un manipulateur
KR20180083404A (ko) * 2015-12-18 2018-07-20 쿠카 도이칠란트 게엠베하 매니퓰레이터를 제어하기 위한 또는 프로그래밍하기 위한 조작장치
US10780587B2 (en) 2015-12-18 2020-09-22 Kuka Roboter Gmbh Operating device for controlling or programming a manipulator

Also Published As

Publication number Publication date
DE102007029335B4 (de) 2009-02-12
DE102007029335A1 (de) 2009-01-02
EP2012208B1 (fr) 2011-09-28
EP2012208A3 (fr) 2010-01-06

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